Place 1/2 cup of milk, 5 TBSP of sugar, 2 tsp of salt, 3 TBSP of butter in a bowl. Microwave until butter is melted and sugar disolved. Let cool COMPLETELY or it will kill the yeast.
Grease a cake pan or casserole dish. I have found that unsalted butter works best for this but you can use regular butter also.
In another bowl, place 1/2 TBSP of sugar, 1/2 cup warm water, and 2 packs of yeast. Stir and let sit until it doubles in volume.
In a large mixing bowl, place 5 cups of flour, yeast mixture, and milk mixture. Mix well adding small amounts of warm water until all dough is mixed. Using your hands to mix works better than a spoon. Make into a ball and cover with clean, dry towel and let rise for 20 minutes.
After dough has risen, flour counter top and rolling pin. Place dough in the middle of flour and roll out to about 1/4 inch thickness.
Add a layer of butter and thoughly dust with cinnamon and sugar. Roll into a log and cut in 1 to 1 and 1/2 pieces. Place about an inch apart in the pan. Cover with a towel once again and place in a warm place to rise again for another 20 minutes.
Bake for 25-30 minutes.
Once rolls are out of the oven, melt a stick of butter and brush rolls with butter. Then, coat with vanilla frosting.
This step is optional for those that like a more sticky bottom. In a sauce pan, add 1/2 cup of sugar, 1/2 cup of brown sugar, 2 TBSP of cinnamon, and a stick of butter. Melt over medium heat until at caramel-like state. Spread in the bottom of baking dishes before adding cut rolls.